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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 691 | holgerb | 1 | #include "91x_lib.h" |
| 2 | #include "91x_can.h" |
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| 3 | #include "timer1.h" |
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| 4 | #include "led.h" |
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| 5 | #include "canbus.h" |
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| 6 | #include "main.h" |
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| 7 | #include "uart1.h" |
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| 8 | |||
| 9 | canmsg CanMsg; |
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| 10 | canmsg RxCanMsg; |
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| 11 | volatile u32 frame_received_flag; |
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| 12 | |||
| 13 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 14 | CAN_InitTypeDef CAN_InitStructure; |
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| 15 | |||
| 16 | |||
| 17 | typedef enum { |
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| 18 | NA, |
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| 19 | Priority_1, |
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| 20 | Priority_2, |
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| 21 | Priority_3 |
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| 22 | }VIC_Priority; |
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| 23 | |||
| 24 | /* buffer for receive messages */ |
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| 25 | canmsg RxCanMsg; |
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| 26 | |||
| 27 | /* used message object numbers */ |
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| 28 | enum { |
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| 29 | CAN_TX_MSGOBJ = 0, |
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| 30 | CAN_RX_MSGOBJ = 1 |
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| 31 | }; |
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| 32 | |||
| 33 | /* array of pre-defined transmit messages */ |
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| 34 | canmsg TxCanMsg[3] = { |
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| 35 | { CAN_STD_ID, 0x123, 4, { 0x01, 0x02, 0x04, 0x08 } }, |
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| 36 | { CAN_STD_ID, 0x321, 2, { 0xAA, 0x55, 0xAA, 0x55 } }, |
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| 37 | { CAN_EXT_ID, 0x12345678, 8, { 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17 } } |
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| 38 | }; |
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| 39 | |||
| 40 | void CAN_IO_Init(void) |
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| 41 | { |
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| 42 | // P5.0 alternate input 1, CAN_RX pin |
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| 43 | GPIO_StructInit(&GPIO_InitStructure); |
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| 44 | GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0; |
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| 45 | GPIO_InitStructure.GPIO_Direction=GPIO_PinInput; |
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| 46 | GPIO_InitStructure.GPIO_IPInputConnected=GPIO_IPInputConnected_Enable; |
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| 47 | GPIO_InitStructure.GPIO_Alternate=GPIO_InputAlt1; |
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| 48 | GPIO_Init(GPIO5,&GPIO_InitStructure); |
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| 49 | // P5.1 CAN_TX |
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| 50 | GPIO_StructInit(&GPIO_InitStructure); |
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| 51 | GPIO_InitStructure.GPIO_Pin=GPIO_Pin_1; |
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| 52 | GPIO_InitStructure.GPIO_Direction=GPIO_PinOutput; |
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| 53 | GPIO_InitStructure.GPIO_Type=GPIO_Type_PushPull; |
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| 54 | GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt2; |
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| 55 | GPIO_Init(GPIO5,&GPIO_InitStructure); |
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| 56 | } |
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| 57 | |||
| 58 | |||
| 59 | |||
| 60 | /******************************************************************************* |
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| 61 | * Function Name : CAN_IRQHandler |
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| 62 | * Description : This function handles the CAN interrupt request |
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| 63 | *******************************************************************************/ |
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| 64 | void CAN_IRQHandler(void) |
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| 65 | { |
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| 66 | u32 msgobj = 0; |
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| 67 | if(CAN->IDR == 0x8000) /* status interrupt */ |
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| 68 | { |
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| 69 | (void)CAN->SR; /* read the status register to clear*/ |
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| 70 | } |
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| 71 | else if(CAN->IDR >= 1 && CAN->IDR <= 32) |
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| 72 | { |
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| 73 | /* get the message object number that caused the interrupt to occur */ |
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| 74 | switch(msgobj = CAN->IDR - 1) |
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| 75 | { |
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| 76 | case 0 /* CAN_TX_MSGOBJ */: |
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| 77 | CAN_ReleaseTxMessage(msgobj); |
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| 78 | break; |
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| 79 | |||
| 80 | case 1 /* CAN_RX_MSGOBJ */: |
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| 81 | CAN_ReceiveMessage(msgobj, FALSE, &RxCanMsg); |
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| 82 | CAN_ReleaseRxMessage(msgobj); |
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| 83 | frame_received_flag = 1; |
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| 84 | DebugOut.Analog[19]++; |
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| 85 | break; |
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| 86 | |||
| 87 | default: |
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| 88 | CAN_ReleaseMessage(msgobj); |
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| 89 | break; |
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| 90 | } |
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| 91 | } |
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| 92 | |||
| 93 | /*write any value to VIC0 VAR*/ |
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| 94 | VIC0->VAR = 0xFF; |
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| 95 | |||
| 96 | } |
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| 97 | |||
| 98 | void CanSend(void) |
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| 99 | { |
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| 100 | // CAN_SetUnusedAllMsgObj(); |
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| 101 | // CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID, DISABLE); |
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| 102 | // CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE); |
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| 103 | //CAN_UpdateMsgObj(CAN_TX_MSGOBJ, &TxCanMsg[1]); |
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| 104 | TxCanMsg[1].Data[0] = DebugOut.Analog[24] / 256; |
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| 105 | TxCanMsg[1].Data[1] = DebugOut.Analog[24] % 256; |
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| 106 | CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[1]); |
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| 107 | } |
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| 108 | |||
| 109 | void CanReceive(void) |
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| 110 | { |
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| 111 | |||
| 112 | } |
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| 113 | |||
| 114 | |||
| 115 | void CanbusInit(void) |
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| 116 | { |
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| 117 | UART1_PutString("\r\n Canbus init..."); |
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| 118 | CAN_IO_Init(); |
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| 119 | SCU_APBPeriphClockConfig(__CAN, ENABLE); |
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| 120 | SCU_APBPeriphReset(__CAN, DISABLE); |
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| 121 | |||
| 122 | VIC_Config(CAN_ITLine, VIC_IRQ, Priority_1); |
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| 123 | CAN_InitStructure.CAN_ConfigParameters=CAN_CR_IE; |
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| 124 | CAN_InitStructure.CAN_Bitrate = CAN_BITRATE_1M; |
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| 125 | CAN_Init(&CAN_InitStructure); |
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| 126 | VIC_ITCmd(CAN_ITLine, ENABLE); |
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| 127 | |||
| 128 | CAN_SetUnusedAllMsgObj(); |
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| 129 | CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID, DISABLE); |
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| 130 | CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE); |
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| 131 | |||
| 132 | UART1_PutString("ok"); |
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| 133 | } |
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| 134 | |||
| 135 | void ProcessCanBus(void) |
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| 136 | { |
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| 137 | |||
| 138 | CanSend(); |
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| 139 | CanReceive(); |
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| 140 | if(CAN_GetTransmitErrorCounter() > 200) CanbusInit(); |
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| 141 | |||
| 142 | //DebugOut.Analog[16] = CAN->SR ; |
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| 143 | |||
| 144 | if(frame_received_flag) |
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| 145 | { |
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| 146 | frame_received_flag = 0; |
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| 147 | DebugOut.Analog[16] = RxCanMsg.Data[0] * 256 + RxCanMsg.Data[1]; |
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| 148 | } |
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| 149 | |||
| 150 | } |
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| 151 | |||
| 152 | |||
| 153 | |||
| 154 | |||
| 155 |